Is there an etymological connection between these two words that share a similar meaning? And also, do they share the same meaning?
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They share a common origin as said in the comments. However, freuen is a verb, froh is an adjective.
Also the meanings are slightly different:
Yes they share the same meaning, but both words are used differently:
Just because nobody mentioned it: 'freuen' is a verb and 'froh' an adjective.
And no, it's raining :(